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# Copyright 2024 The Google Research Authors.
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# Licensed under the Apache License, Version 2.0 (the "License");
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#     http://www.apache.org/licenses/LICENSE-2.0
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"""Defines a base model predictive control class for algorithms to extend."""


class MPC(object):
  """The base model predictive control class."""

  def init_state(self, a_shape):
    """Returns the initial state for the MPC algorithm."""
    raise NotImplementedError()

  def update(self, mpc_state, env, env_state, rng, reward_fn=None,
             reward_params=None, reward_rng=None):
    """Process the new env_state and update the mpc_state if necessary."""
    raise NotImplementedError()

  def get_action(self, mpc_state):
    """Return the current recommended action."""
    raise NotImplementedError()
